Hyperspectral, fluorescence, and laser mapping imaging with reduced fixed pattern noise is disclosed. A method includes actuating an emitter to emit a plurality of pulses of electromagnetic radiation and sensing reflected electromagnetic radiation resulting from the plurality of pulses of electromagnetic radiation with a pixel array of an image sensor. The method includes reducing fixed pattern noise in an exposure frame by subtracting a reference frame from the exposure frame. The method is such that at least a portion of the pulses of electromagnetic radiation emitted by the emitter comprises one or more of: electromagnetic radiation having a wavelength from about 513 nm to about 545 nm, from about 565 nm to about 585 nm, from about 900 nm to about 1000 nm, an excitation wavelength of electromagnetic radiation that causes a reagent to fluoresce, or a laser mapping pattern.
Legal claims defining the scope of protection. Each claim is shown in both the original legal language and a plain English translation.
1. A method comprising: actuating an emitter to emit a plurality of pulses of electromagnetic radiation; sensing reflected electromagnetic radiation resulting from the plurality of pulses of electromagnetic radiation with a pixel array of an image sensor to generate a plurality of exposure frames; generating a reference frame for use in removing fixed pattern noise from the plurality of exposure frames, wherein the reference frame is based on dark frame data captured when the emitter is not emitting electromagnetic radiation; and reducing fixed pattern noise in an exposure frame of the plurality of exposure frames by subtracting the reference frame from the exposure frame; wherein at least a portion of the plurality of pulses of electromagnetic radiation emitted by the emitter comprises a laser mapping pattern and further comprises one or more of: a multispectral emission of electromagnetic radiation; or an excitation wavelength of electromagnetic radiation that causes a reagent to fluoresce; wherein at least a portion of the plurality of exposure frames comprises a laser mapping exposure frame sensed in response to the emitter pulsing the laser mapping pattern, and wherein the laser mapping exposure frame comprises data for calculating one or more of a topology of a scene, a dimension of one or more objects within the scene, or a distance.
2. The method of claim 1 , further comprising: stopping the emitter from pulsing electromagnetic radiation; and sensing the dark frame data with the pixel array when the emitter is not emitting electromagnetic radiation.
This invention relates to imaging systems that use pulsed electromagnetic radiation, particularly in applications where dark frame data is captured to improve image quality. The problem addressed is the need to accurately capture dark frame data in systems where an emitter pulses electromagnetic radiation, as residual radiation or noise can interfere with the dark frame measurement. The method involves operating an imaging system with a pulsed emitter that emits electromagnetic radiation toward a target. The system includes a pixel array that captures image data from the reflected or transmitted radiation. To obtain dark frame data, the emitter is stopped from pulsing electromagnetic radiation. While the emitter is inactive, the pixel array senses dark frame data, which represents noise or background signals in the absence of emitted radiation. This dark frame data can then be used to correct or calibrate subsequent image data, improving accuracy and reducing noise. The method ensures that dark frame data is captured under conditions where no electromagnetic radiation is emitted, minimizing interference and providing a clean reference for noise correction. This is particularly useful in systems where accurate dark frame measurements are critical, such as in low-light imaging or high-precision sensing applications.
3. The method of claim 1 , wherein the plurality of pulses of electromagnetic radiation are emitted in a pattern of varying wavelengths of electromagnetic radiation, and wherein the emitter repeats the pattern of varying wavelengths of electromagnetic radiation.
This invention relates to a method for emitting electromagnetic radiation in a controlled pattern to address challenges in applications such as sensing, imaging, or communication. The method involves generating a sequence of electromagnetic pulses with varying wavelengths, where the wavelengths change according to a predefined pattern. The emitter repeatedly cycles through this pattern, ensuring consistent and predictable wavelength modulation over time. This approach may enhance signal differentiation, improve data transmission accuracy, or enable advanced imaging techniques by leveraging the distinct properties of different wavelengths. The method can be applied in systems requiring precise wavelength control, such as spectroscopy, remote sensing, or optical communication, where dynamic wavelength adjustment is beneficial for performance optimization. The repeated pattern ensures reliability and reproducibility, making it suitable for applications where consistent signal characteristics are critical.
4. The method of claim 3 , wherein the pattern of varying wavelengths of electromagnetic radiation comprises a zero-emission period wherein the emitter does not pulse electromagnetic radiation, and wherein the method further comprises sensing the dark frame data with the pixel array during the zero-emission period.
This invention relates to imaging systems that use patterned electromagnetic radiation to capture images, particularly in low-light or high-contrast environments. The problem addressed is the need to improve image quality by reducing noise and artifacts caused by varying illumination patterns. The invention involves a method where an emitter generates a sequence of electromagnetic radiation pulses with varying wavelengths, creating a dynamic illumination pattern. During a zero-emission period, when the emitter is inactive, the pixel array captures dark frame data, which represents noise and background signals. This dark frame data is used to correct the image data captured during active illumination periods, enhancing accuracy and reducing noise. The method ensures that the dark frame data is collected under consistent conditions, improving calibration and image quality. The system may include a controller to synchronize the emitter and sensor, ensuring precise timing between illumination and data capture. This approach is particularly useful in applications requiring high sensitivity, such as scientific imaging, medical diagnostics, or industrial inspection.
5. The method of claim 1 , further comprising sensing a plurality of dark exposure frames with the pixel array when the emitter is not emitting electromagnetic radiation, wherein each of the plurality of dark exposure frames comprises dark frame data.
This invention relates to imaging systems that use an emitter to illuminate a scene and a pixel array to capture images. The problem addressed is the presence of noise in captured images, particularly dark current noise, which degrades image quality. The invention provides a method to reduce such noise by capturing multiple dark exposure frames when the emitter is inactive. These dark frames contain dark frame data, which represents the noise present in the imaging system under dark conditions. By analyzing this data, the system can compensate for noise during image processing, improving the signal-to-noise ratio and overall image quality. The method involves synchronizing the emitter's operation with the pixel array's exposure timing to ensure accurate noise characterization. The dark frame data can be used to correct subsequent images captured while the emitter is active, enhancing the reliability of the imaging system in various applications, such as low-light or high-precision imaging scenarios. The invention ensures that noise artifacts are minimized, leading to clearer and more accurate images.
6. The method of claim 5 , wherein the plurality of dark exposure frames are interspersed within the plurality of exposure frames.
A method for capturing images in a digital imaging system addresses the problem of image artifacts caused by sensor noise and thermal effects during prolonged exposure sequences. The method involves capturing a series of exposure frames, each with a specific exposure time, to construct a high-dynamic-range (HDR) image or a time-lapse sequence. To mitigate noise and thermal buildup, the method incorporates dark exposure frames, which are non-image frames captured with the sensor shutter closed, into the sequence. These dark frames are used to calibrate and subtract noise from the exposure frames. The dark exposure frames are interspersed within the sequence of exposure frames, ensuring that each exposure frame is followed or preceded by a dark frame, thereby maintaining consistent noise correction throughout the capture process. This interleaving prevents thermal drift and ensures accurate noise subtraction, improving image quality in low-light or high-contrast scenarios. The method is particularly useful in applications requiring long exposure times, such as astrophotography or scientific imaging, where minimizing noise and thermal artifacts is critical.
7. The method of claim 5 , wherein generating the reference frame comprises generating a plurality of reference frames based on the plurality of dark exposure frames, and wherein the method further comprises enhancing precision of at least one reference frame of the plurality of reference frames by sampling subsequent dark frame data from subsequent dark exposure frames.
This invention relates to image processing techniques for enhancing the precision of reference frames used in imaging systems, particularly in low-light or high-sensitivity applications. The problem addressed is the need to improve the accuracy of reference frames, which are often used to correct noise or artifacts in captured images, by leveraging multiple dark exposure frames and subsequent dark frame data. The method involves generating a plurality of reference frames from a plurality of dark exposure frames. Dark exposure frames are images captured with no light exposure, used to profile sensor noise or other artifacts. By analyzing multiple dark exposure frames, the system can create more accurate reference frames that better represent the noise characteristics of the imaging sensor. To further enhance precision, the method samples subsequent dark frame data from additional dark exposure frames taken after the initial set. This allows the reference frames to be refined over time, accounting for temporal variations in noise or sensor behavior. The technique is particularly useful in applications where image quality is critical, such as scientific imaging, medical imaging, or high-end photography, where minimizing noise and artifacts is essential. By continuously updating the reference frames with new dark frame data, the system ensures that corrections remain accurate even as environmental or sensor conditions change. This approach improves the reliability of noise reduction and artifact correction in captured images.
8. The method of claim 7 , wherein enhancing precision of the at least one reference frame comprises accounting for the subsequent dark frame data from the subsequent dark exposure frames using exponential smoothing.
This invention relates to image processing techniques for enhancing the precision of reference frames in imaging systems, particularly in low-light or high-noise environments. The problem addressed is the presence of noise and artifacts in captured images due to sensor imperfections, thermal noise, or other environmental factors, which degrade image quality and accuracy. The invention improves image processing by refining reference frames used for noise reduction or calibration, thereby enhancing overall image fidelity. The method involves capturing a reference frame under specific conditions, such as a dark frame to measure sensor noise, and then refining this reference frame by incorporating subsequent dark exposure frames. The refinement process uses exponential smoothing to account for variations in the subsequent dark frame data, ensuring that the reference frame more accurately represents the noise characteristics of the imaging system. Exponential smoothing applies a weighted average, where recent data points have a greater influence on the final reference frame, allowing for adaptive noise modeling over time. By dynamically updating the reference frame with new dark frame data, the method reduces the impact of transient noise sources and improves the precision of noise correction. This approach is particularly useful in applications requiring high-precision imaging, such as scientific imaging, medical diagnostics, or surveillance systems, where accurate noise modeling is critical for reliable results. The technique ensures that the reference frame remains relevant and effective over extended periods of operation.
9. The method of claim 1 , wherein generating the reference frame comprises interpolating two or more instances of dark frame data from two or more dark exposure frames captured at different integration times.
This invention relates to image processing in digital imaging systems, specifically addressing noise reduction in low-light or high-sensitivity imaging applications. The problem solved is the presence of fixed-pattern noise (FPN) and random noise in captured images, which degrades image quality, particularly in low-light conditions or when using high-gain settings. Fixed-pattern noise arises from variations in pixel response across the sensor, while random noise is introduced during signal readout and processing. The invention improves upon existing dark frame subtraction techniques by generating a more accurate reference frame for noise correction. Instead of relying on a single dark frame, the method interpolates multiple instances of dark frame data from two or more dark exposure frames captured at different integration times. This interpolation process enhances the accuracy of the reference frame by accounting for variations in noise characteristics across different exposure durations. The resulting reference frame is then used to correct the captured image by subtracting the interpolated dark frame data, effectively reducing both fixed-pattern and random noise. By using multiple dark frames with varying integration times, the method provides a more robust noise correction solution compared to traditional single-dark-frame approaches. This technique is particularly useful in applications requiring high sensitivity, such as astronomy, medical imaging, or low-light surveillance, where minimizing noise is critical for preserving image clarity and detail.
10. The method of claim 1 , wherein sensing the reflected electromagnetic radiation comprises sensing during a readout period of the pixel array, wherein the readout period is a duration of time when active pixels in the pixel array are read.
This invention relates to imaging systems, specifically methods for sensing reflected electromagnetic radiation in a pixel array. The problem addressed is improving the accuracy and efficiency of radiation sensing during the readout process of an active pixel array, where active pixels are those currently being read. The method involves sensing reflected electromagnetic radiation specifically during the readout period, which is the duration when active pixels in the pixel array are being read. This approach ensures that the sensing operation is synchronized with the readout process, potentially reducing noise and improving signal integrity. The pixel array may include multiple pixels, each capable of detecting electromagnetic radiation and converting it into an electrical signal. The readout period is a critical phase where data from active pixels is captured, and the method ensures that radiation sensing is performed during this time to enhance the reliability of the captured data. This synchronization may help mitigate interference from other operations or environmental factors, leading to more accurate imaging results. The invention is particularly useful in applications requiring precise radiation detection, such as high-resolution imaging, medical imaging, or scientific research.
11. The method of claim 1 , wherein actuating the emitter comprises actuating the emitter to emit, during a pulse duration, a plurality of sub-pulses of electromagnetic radiation having a sub-duration shorter than the pulse duration.
This invention relates to a method for emitting electromagnetic radiation in a controlled manner, particularly for applications requiring precise energy delivery, such as medical treatments or industrial processes. The method addresses the challenge of delivering electromagnetic radiation in a way that minimizes thermal damage or unintended effects while maintaining effective energy transfer. The core technique involves modulating the emission of electromagnetic radiation into a series of sub-pulses within a single pulse duration. Each sub-pulse has a shorter duration than the overall pulse, allowing for finer control over energy delivery. This approach can reduce peak power while maintaining total energy, which is useful in applications where excessive heat or rapid energy deposition is undesirable. The method may be applied in systems where an emitter, such as a laser or radiofrequency device, is triggered to produce these sub-pulses. The sub-pulse structure can be adjusted based on the target material or treatment requirements, enabling customization for different applications. This technique is particularly valuable in medical procedures, such as laser surgery, where precise energy delivery is critical to avoid tissue damage, or in industrial processes where controlled heating or material processing is needed. The method ensures that the emitted radiation is delivered in a manner that optimizes efficiency and minimizes adverse effects.
12. The method of claim 1 , wherein actuating the emitter comprises actuating the emitter to emit two or more wavelengths simultaneously as a single pulse or a single sub-pulse.
This invention relates to optical emission systems, specifically methods for controlling an emitter to produce multiple wavelengths simultaneously. The problem addressed is the need for efficient and precise multi-wavelength emission in applications such as spectroscopy, imaging, or sensing, where simultaneous emission of different wavelengths can improve accuracy and reduce measurement time. The method involves actuating an emitter to generate two or more distinct wavelengths in a single pulse or sub-pulse. The emitter may be a laser, LED, or other light source capable of multi-wavelength operation. The simultaneous emission of multiple wavelengths in a single pulse or sub-pulse ensures that all wavelengths are emitted at the same time, improving synchronization and reducing the need for separate emission events. This approach can enhance data acquisition speed and reduce system complexity by eliminating the need for multiple emitters or sequential activation. The method may include selecting specific wavelengths based on application requirements, such as material analysis or environmental sensing. The emitter can be configured to emit the wavelengths in a predefined pattern or sequence within the pulse or sub-pulse, ensuring consistent and repeatable performance. The invention may also involve adjusting the intensity or duration of each wavelength to optimize signal quality and detection efficiency. This technique is particularly useful in systems where rapid, multi-wavelength measurements are critical, such as in industrial process monitoring or medical diagnostics.
13. The method of claim 1 , wherein sensing the reflected electromagnetic radiation comprises generating a fluorescence exposure frame in response to the emitter pulsing the excitation wavelength of electromagnetic radiation, and wherein the method further comprises providing the fluorescence exposure frame to a corresponding fluorescence system that determines a location of a tissue structure within a scene based on the fluorescence exposure frame.
This invention relates to medical imaging systems that use fluorescence to detect tissue structures. The problem addressed is the need for accurate localization of specific tissue structures, such as tumors or blood vessels, during surgical or diagnostic procedures. The invention improves upon existing fluorescence imaging techniques by enhancing the detection and processing of reflected electromagnetic radiation to provide precise location data. The method involves emitting electromagnetic radiation at an excitation wavelength to induce fluorescence in target tissues. A fluorescence exposure frame is generated in response to this excitation, capturing the emitted fluorescent light. This frame is then processed by a fluorescence system to determine the location of the tissue structure within the scene. The system analyzes the fluorescence exposure frame to identify and map the tissue structure, providing real-time feedback to medical personnel. This approach enables more accurate and reliable tissue identification compared to conventional imaging methods, improving surgical precision and diagnostic accuracy. The technique is particularly useful in minimally invasive procedures where visualizing specific tissue structures is critical.
14. The method of claim 13 , further comprising: receiving the location of the tissue structure from the corresponding fluorescence system; generating an overlay frame comprising the location of the tissue structure; and combining the overlay frame with a color image frame depicting the scene to indicate the location of the tissue structure within the scene.
This invention relates to medical imaging systems that integrate fluorescence imaging with conventional color imaging to enhance tissue visualization during surgical or diagnostic procedures. The problem addressed is the difficulty in precisely locating tissue structures, such as tumors or blood vessels, when relying solely on color imaging, which may not provide sufficient contrast or clarity. The system includes a fluorescence imaging module that detects specific tissue structures by capturing fluorescence signals emitted from targeted biomarkers or dyes. The location of these structures is then determined within the imaging field. Additionally, a color imaging module captures standard color images of the scene. The system generates an overlay frame that marks the detected tissue structure locations and combines this overlay with the color image frame. This combined image is displayed to the user, providing a real-time, visually enhanced view that highlights the tissue structures of interest within the broader anatomical context. The integration of fluorescence and color imaging improves accuracy in identifying and locating tissue structures, aiding surgeons or clinicians in procedures where precise targeting is critical. The overlay ensures that the fluorescence data is contextually aligned with the color image, reducing ambiguity and enhancing decision-making during interventions. This approach is particularly useful in minimally invasive surgeries, tumor resection, or vascular procedures where fluorescence imaging alone may not provide sufficient spatial context.
15. The method of claim 14 , further comprising: providing the laser mapping exposure frame to a corresponding laser mapping system that determines the topology of the scene and/or the dimension of the one or more objects within the scene; providing the location of the tissue structure to the corresponding laser mapping system; and receiving the topology of the scene and/or a dimension of the tissue structure from the corresponding laser mapping system.
This invention relates to a system for capturing and processing images of a scene, particularly for medical applications involving tissue structures. The method involves generating a laser mapping exposure frame that includes a laser mapping pattern and a location of a tissue structure within the scene. The laser mapping pattern is designed to facilitate the determination of the topology of the scene and the dimensions of objects, including the tissue structure. The laser mapping exposure frame is provided to a laser mapping system, which analyzes the pattern to determine the topology of the scene and the dimensions of the tissue structure. The location of the tissue structure is also provided to the laser mapping system to ensure accurate mapping. The system then receives the topology data and dimensional measurements from the laser mapping system, enabling precise analysis of the tissue structure within the scene. This method enhances the accuracy of medical imaging by integrating laser mapping techniques to improve the detection and measurement of tissue structures in various medical applications.
16. The method of claim 15 , wherein the tissue structure comprises one or more of a nerve, a ureter, a blood vessel, an artery, a blood flow, or a tumor.
This invention relates to medical imaging and surgical navigation, specifically for identifying and protecting delicate tissue structures during minimally invasive procedures. The problem addressed is the difficulty in visually distinguishing critical anatomical features such as nerves, ureters, blood vessels, arteries, blood flow, or tumors from surrounding tissues in real-time imaging, which can lead to accidental damage during surgery. The method involves using a surgical navigation system that integrates real-time imaging data with pre-operative or intra-operative anatomical models. The system identifies and highlights specific tissue structures within the imaging data, enhancing their visibility to the surgeon. This is achieved through a combination of image processing techniques, such as segmentation and feature extraction, which differentiate the target structures from surrounding tissues based on their unique characteristics. The highlighted structures are then overlaid on the real-time imaging display, providing clear visual guidance to the surgeon. The invention ensures that critical structures like nerves, ureters, blood vessels, arteries, blood flow, or tumors are clearly marked, reducing the risk of inadvertent injury. The system may also incorporate tracking of surgical instruments to prevent accidental contact with these highlighted structures. This approach improves surgical precision, particularly in complex procedures where visibility is limited, such as laparoscopic or robotic surgeries. The method enhances patient safety by minimizing complications related to tissue damage during interventions.
17. The method of claim 1 , further comprising synchronizing timing of the plurality of pulses of electromagnetic radiation to be emitted during a blanking period of the image sensor, wherein the blanking period corresponds to a time between a readout of a last row of active pixels in the pixel array and a beginning of a next subsequent readout of active pixels in the pixel array.
This invention relates to imaging systems that use pulsed electromagnetic radiation, such as LiDAR or structured light systems, in conjunction with image sensors. The problem addressed is interference between the emitted radiation pulses and the image sensor's readout process, which can degrade image quality or introduce artifacts. The solution involves synchronizing the timing of the emitted pulses to occur during the image sensor's blanking period, which is the interval between the readout of the last row of active pixels and the start of the next readout cycle. By aligning the pulses with this inactive period, the system avoids disrupting the sensor's active readout phase, ensuring clean image capture without interference. The method may also include adjusting the pulse timing dynamically to account for variations in sensor readout rates or environmental conditions. This synchronization improves the accuracy of depth sensing or structured light applications while maintaining high-quality image data. The invention is particularly useful in automotive, robotics, and augmented reality systems where precise timing coordination between illumination and imaging is critical.
18. The method of claim 1 , wherein sensing the reflected electromagnetic radiation comprises sensing with a first pixel array and a second pixel array.
A method for sensing reflected electromagnetic radiation involves using a first pixel array and a second pixel array to detect the radiation. The first pixel array captures a first set of image data, while the second pixel array captures a second set of image data. The method further includes processing the first and second sets of image data to generate a combined output. This combined output may be used for various applications, such as improving image resolution, enhancing dynamic range, or reducing noise. The use of two pixel arrays allows for more comprehensive data collection, enabling better analysis and interpretation of the reflected electromagnetic radiation. The method may be applied in imaging systems, such as cameras, sensors, or other devices that rely on detecting and processing electromagnetic radiation. The technique helps address challenges related to limited sensitivity, resolution, or dynamic range in conventional single-array systems by leveraging the capabilities of multiple arrays.
19. The method of claim 1 , wherein actuating the emitter comprises actuating the emitter to emit a sequence of pulses of electromagnetic radiation repeatedly sufficient for generating a video stream comprising a plurality of image frames, wherein each image frame in the video stream comprises data from a plurality of exposure frames, and wherein each of the plurality of exposure frames corresponds to a pulse of electromagnetic radiation.
This invention relates to imaging systems that use pulsed electromagnetic radiation to capture video streams with improved image quality. The problem addressed is the need for high-quality video capture in low-light or high-speed imaging scenarios where traditional continuous illumination methods may be insufficient. The solution involves emitting a sequence of electromagnetic radiation pulses at a rate sufficient to generate a video stream composed of multiple image frames. Each image frame in the video stream is constructed from data collected across several exposure frames, with each exposure frame corresponding to a single pulse of radiation. This approach allows for the aggregation of multiple exposures to enhance signal-to-noise ratio, reduce motion blur, and improve dynamic range in challenging imaging conditions. The system dynamically adjusts pulse timing and exposure parameters to optimize image quality based on environmental factors such as ambient light levels or object motion. The method ensures that the video stream maintains real-time performance while leveraging the benefits of pulsed illumination for high-precision imaging. This technique is particularly useful in applications like surveillance, scientific imaging, and industrial inspection where both speed and image fidelity are critical.
20. The method of claim 1 , wherein at least a portion of the reflected electromagnetic radiation sensed by the pixel array is a relaxation wavelength of the reagent.
This invention relates to a method for detecting the presence of a reagent in a sample using electromagnetic radiation. The method addresses the challenge of accurately identifying specific reagents in complex environments by leveraging their unique relaxation wavelengths, which are characteristic of the reagent's molecular structure. The method involves illuminating a sample containing the reagent with electromagnetic radiation, which excites the reagent molecules. The excited molecules then emit radiation at specific relaxation wavelengths as they return to their ground state. A pixel array sensor captures the reflected or emitted radiation, and at least a portion of this captured radiation corresponds to the relaxation wavelength of the reagent. By analyzing the detected radiation, the presence and concentration of the reagent can be determined with high specificity. The pixel array sensor may include multiple pixels, each configured to detect radiation at different wavelengths or within specific wavelength ranges. The sensor may also incorporate optical filters to isolate the relaxation wavelength from other wavelengths present in the reflected or emitted radiation. The method can be applied in various fields, including chemical analysis, medical diagnostics, and environmental monitoring, where precise reagent detection is critical. The use of relaxation wavelengths enhances accuracy by reducing interference from other substances in the sample.
21. The method of claim 1 , wherein the laser mapping exposure frame comprises information for determining real time measurements comprising one or more of: a distance from an endoscope to an object; an angle between an endoscope and the object; or surface topology information about the object.
This invention relates to endoscopic imaging systems that use laser mapping to enhance real-time measurements during medical procedures. The technology addresses the challenge of accurately determining spatial relationships and surface details of internal anatomical structures in real time, which is critical for precise surgical navigation and diagnostics. The method involves capturing laser mapping exposure frames during endoscopy, where these frames contain structured light patterns or laser projections that interact with the target object. The captured data is processed to extract real-time measurements, including the distance from the endoscope to the object, the angle between the endoscope and the object, and surface topology information about the object. These measurements are derived from the deformation or reflection patterns of the laser projections as they interact with the object's surface. By analyzing the laser mapping frames, the system can reconstruct a three-dimensional representation of the object, enabling precise spatial tracking and surface characterization. This enhances the accuracy of endoscopic procedures by providing real-time feedback on the relative position and orientation of the endoscope, as well as detailed surface topography, which is useful for tasks such as tissue characterization, navigation in confined spaces, and guidance during minimally invasive surgeries. The technology improves upon traditional endoscopic imaging by integrating structured light techniques to overcome limitations in depth perception and surface detail resolution.
22. The method of claim 21 , wherein the laser mapping exposure frame is sensed by the image sensor in response to an emission by the emitter of one or more of vertical hashing, horizontal hashing, a raster grid of discrete points, an occupancy grid map, or a dot array.
This invention relates to laser mapping systems used for environmental sensing, such as in autonomous navigation or robotics. The technology addresses the challenge of accurately capturing spatial data in dynamic environments by using structured laser emissions to create detailed maps. The method involves emitting laser patterns, such as vertical or horizontal hashing, a raster grid of discrete points, an occupancy grid map, or a dot array, to illuminate a target area. An image sensor then captures the reflected laser emissions, generating a high-resolution spatial map. The laser patterns ensure comprehensive coverage, reducing gaps in data and improving accuracy. The system dynamically adjusts the laser emissions based on environmental conditions, optimizing mapping efficiency. This approach enhances the reliability of spatial mapping in applications like autonomous vehicles, drones, or industrial automation, where precise environmental awareness is critical. The invention improves upon traditional mapping techniques by using structured laser emissions to create more detailed and adaptable spatial representations.
23. The method of claim 21 , wherein the laser mapping exposure frame comprises information for determining real time measurements to an accuracy of less than one millimeter.
This invention relates to laser mapping systems used for real-time spatial measurements with high precision. The technology addresses the need for accurate, real-time distance and position measurements in applications such as surveying, robotics, and industrial automation, where millimeter-level precision is critical. The method involves capturing laser mapping exposure frames that encode spatial data with sufficient detail to enable real-time measurements accurate to less than one millimeter. These frames are processed to extract positional information, allowing for precise tracking of objects or environments in dynamic settings. The system may include a laser source, a sensor array, and processing algorithms that interpret the reflected laser signals to generate high-resolution spatial data. By ensuring sub-millimeter accuracy, the invention enables applications requiring fine-grained positional feedback, such as autonomous navigation, robotic manipulation, and quality control in manufacturing. The method may also incorporate calibration techniques to maintain accuracy over time and under varying environmental conditions. The overall approach improves upon existing laser mapping systems by enhancing measurement precision while maintaining real-time performance.
24. The method of claim 1 , wherein actuating the emitter to emit the plurality of pulses of electromagnetic radiation comprises actuating the emitter to emit a plurality of tool-specific laser mapping patterns for each of a plurality of tools within the scene.
This invention relates to a system for mapping and tracking tools within a scene using electromagnetic radiation, specifically laser mapping patterns. The technology addresses the challenge of accurately identifying and monitoring multiple tools in dynamic environments, such as surgical or industrial settings, where precise tool tracking is critical for safety and efficiency. The method involves emitting a plurality of pulses of electromagnetic radiation, such as laser pulses, to generate tool-specific mapping patterns for each tool present in the scene. These patterns are unique to each tool, allowing for distinct identification and tracking. The emitted radiation interacts with the tools, and the resulting reflections or interactions are captured by a sensor. The sensor data is then processed to determine the position, orientation, and identity of each tool based on the unique mapping patterns. The system may include an emitter configured to generate the laser pulses and a sensor to detect the reflected or scattered radiation. The emitter can be adjusted to emit different patterns for different tools, ensuring accurate differentiation. The sensor data is analyzed to extract spatial and identification information, which can be used for real-time tracking, collision avoidance, or procedural guidance. This approach improves upon existing tool tracking methods by providing higher precision and reliability through tool-specific laser mapping, reducing errors in identification and positioning. The technology is particularly useful in applications where multiple tools must be tracked simultaneously, such as in minimally invasive surgery or automated manufacturing.
25. The method of claim 1 , wherein the laser mapping pattern emitted by the emitter comprises a first output of electromagnetic radiation and a second output of electromagnetic radiation that are independent from one another, wherein the first output of electromagnetic radiation is for light illumination and the second output of electromagnetic radiation is for tool tracking.
In the field of laser-based systems, particularly for applications requiring both illumination and tool tracking, a method involves emitting a laser mapping pattern with two independent outputs of electromagnetic radiation. The first output provides light illumination, while the second output is dedicated to tracking the position and movement of tools or other objects. These outputs are generated independently, allowing for simultaneous and distinct functionality. The illumination output ensures adequate lighting for visual tasks, while the tracking output enables precise monitoring of tool movements, which is critical in applications such as surgical procedures, industrial automation, or augmented reality systems. By separating these functions, the system avoids interference between illumination and tracking, improving accuracy and reliability. The independent outputs can be adjusted separately to optimize performance for their respective tasks, enhancing overall system efficiency. This approach is particularly useful in environments where both illumination and precise tool tracking are essential for safe and effective operation.
26. The method of claim 1 , wherein at least a portion of the plurality of pulses of electromagnetic radiation comprise the multispectral emission of electromagnetic radiation, wherein the multispectral emission comprises one or more of: electromagnetic radiation having a wavelength from about 513 nm to about 545 nm and electromagnetic radiation having a wavelength from about 900 nm to about 1000 nm; or electromagnetic radiation having a wavelength from about 565 nm to about 585 nm and electromagnetic radiation having a wavelength from about 900 nm to about 1000 nm; wherein sensing reflected electromagnetic radiation by the pixel array comprises generating a multispectral exposure frame based on the multispectral emission.
The invention relates to multispectral imaging systems designed to capture detailed spectral information from a scene. Traditional imaging systems often struggle to distinguish between different materials or objects due to limited spectral resolution, which can be critical in applications like medical imaging, remote sensing, or industrial inspection. This invention addresses the problem by using a plurality of pulses of electromagnetic radiation with specific multispectral properties to enhance the imaging process. The system emits electromagnetic radiation in predefined wavelength ranges, including combinations such as 513-545 nm paired with 900-1000 nm, or 565-585 nm paired with 900-1000 nm. These wavelengths are chosen to optimize material differentiation and contrast. The emitted radiation reflects off the target, and a pixel array captures the reflected signals, generating a multispectral exposure frame. This frame contains spectral data that can be analyzed to extract detailed information about the scene, improving identification and classification of objects or materials. The use of pulsed multispectral emission allows for precise control over the illumination, reducing noise and enhancing the accuracy of the captured spectral data. The system is particularly useful in applications requiring high spectral resolution, such as medical diagnostics, agricultural monitoring, or industrial quality control. By leveraging specific wavelength combinations, the invention enables more accurate and reliable imaging compared to traditional broadband or single-wavelength systems.
27. The method of claim 26 , further comprising: providing the multispectral exposure frame to a corresponding multispectral system that determines a location of a tissue structure based on the multispectral exposure frame; receiving the location of the tissue structure from the corresponding multispectral system; generating an overlay frame comprising the location of the tissue structure; and combining the overlay frame with a color image frame depicting the scene to indicate the location of the tissue structure within the scene.
This invention relates to multispectral imaging systems used in medical applications, particularly for identifying and visualizing tissue structures that are not visible in standard color images. The problem addressed is the difficulty in detecting specific tissue structures, such as blood vessels or tumors, which may be obscured or indistinguishable in conventional imaging. The solution involves capturing a multispectral exposure frame of a scene, which contains spectral information beyond the visible range, and processing this data to identify the location of the tissue structure. A corresponding multispectral system analyzes the multispectral exposure frame to determine the precise location of the tissue structure. This location data is then received and used to generate an overlay frame that marks the tissue structure's position. The overlay frame is combined with a standard color image frame of the scene, resulting in a composite image that highlights the tissue structure within the context of the visible scene. This approach enhances medical imaging by providing clear, real-time visualization of otherwise hidden tissue features, aiding in diagnosis and treatment planning. The system integrates multispectral data with conventional imaging to improve accuracy and usability in clinical settings.
28. The method of claim 27 , further comprising: providing the laser mapping exposure frame to a corresponding laser mapping system that determines the topology of the scene and/or the dimension of the one or more objects within the scene based on the data in the laser mapping exposure frame; providing the location of the tissue structure to the corresponding laser mapping system; and receiving the topology of the scene and/or dimension a of the tissue structure from the corresponding laser mapping system.
This invention relates to laser mapping systems used in medical applications, particularly for determining the topology and dimensions of tissue structures within a scene. The technology addresses the challenge of accurately mapping and measuring tissue structures in real-time during medical procedures, such as surgery or diagnostics, where precise spatial information is critical for decision-making and intervention. The method involves generating a laser mapping exposure frame containing data about the scene, which includes one or more tissue structures. This frame is provided to a laser mapping system that processes the data to determine the topology (surface shape and structure) of the scene and the dimensions of the tissue structures within it. The system also receives the specific location of the tissue structure to be analyzed, allowing for targeted and precise measurements. After processing, the laser mapping system returns the topology and dimensional data of the tissue structure, enabling medical professionals to assess the scene accurately. The laser mapping system may use techniques such as structured light, time-of-flight, or other laser-based methods to capture and analyze the scene. The integration of location data ensures that the measurements are contextually relevant, improving the accuracy and reliability of the results. This method enhances the capabilities of medical imaging and navigation systems, supporting more precise and informed medical interventions.
29. The method of claim 28 , wherein the tissue structure is one or more of a nerve, a ureter, a blood vessel, an artery, a blood flow, cancerous tissue, or a tumor.
This invention relates to medical imaging and surgical navigation, specifically for identifying and visualizing tissue structures during minimally invasive procedures. The technology addresses the challenge of accurately locating and distinguishing delicate or critical anatomical features, such as nerves, ureters, blood vessels, arteries, blood flow, cancerous tissue, or tumors, in real-time during surgery. The method involves using imaging data, such as ultrasound, to detect and track these structures, then overlaying the identified structures onto a visual display to guide surgical instruments. The system may incorporate real-time tracking of the imaging probe and surgical tools to ensure precise alignment between the displayed structures and the actual anatomy. By highlighting these critical tissues, the invention aims to reduce the risk of accidental damage during procedures like tumor resections, vascular surgeries, or nerve-sparing operations. The method may also integrate pre-operative imaging data to enhance accuracy and provide a comprehensive view of the surgical field. The invention is particularly useful in minimally invasive surgeries where direct visualization is limited, improving both safety and efficiency.
30. A system comprising: an emitter for emitting a plurality of pulses of electromagnetic radiation; an image sensor comprising a pixel array for sensing reflected electromagnetic radiation to generate a plurality of exposure frames; and one or more processors configurable to execute instructions stored in non-transitory computer readable storage media, the instructions comprising: generating a reference frame for use in removing fixed pattern noise from the plurality of exposure frames, wherein the reference frame is based on dark frame data captured when the emitter is not emitting electromagnetic radiation; and reducing fixed pattern noise in an exposure frame of the plurality of exposure frames by subtracting the reference frame from the exposure frame; wherein at least a portion of the plurality of pulses of electromagnetic radiation emitted by the emitter comprises a laser mapping pattern and further comprises one or more of: a multispectral emission of electromagnetic radiation; or an excitation wavelength of electromagnetic radiation that causes a reagent to fluoresce; wherein at least a portion of the plurality of exposure frames comprises a laser mapping exposure frame sensed in response to the emitter pulsing the laser mapping pattern, and wherein the laser mapping exposure frame comprises data for calculating one or more of a topology of a scene, a dimension of one or more objects within the scene, or a distance.
This system relates to imaging technology for capturing and processing electromagnetic radiation to generate high-quality images with reduced noise. The system addresses the problem of fixed pattern noise in image sensors, which can degrade image quality by introducing consistent artifacts across multiple frames. The system includes an emitter that emits pulses of electromagnetic radiation, which may include laser mapping patterns, multispectral emissions, or excitation wavelengths designed to induce fluorescence in reagents. An image sensor with a pixel array captures reflected radiation to generate exposure frames. The system processes these frames by generating a reference frame from dark frame data (captured when the emitter is inactive) to remove fixed pattern noise. This is done by subtracting the reference frame from each exposure frame. The laser mapping pattern in the emitted pulses enables the calculation of scene topology, object dimensions, or distances based on the captured laser mapping exposure frames. The system enhances imaging accuracy and reliability in applications requiring precise spatial or spectral data.
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January 7, 2020
February 1, 2022
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